GB2188754B - A method for identifying kinematic parameters of robotic manipulators - Google Patents

A method for identifying kinematic parameters of robotic manipulators

Info

Publication number
GB2188754B
GB2188754B GB8706923A GB8706923A GB2188754B GB 2188754 B GB2188754 B GB 2188754B GB 8706923 A GB8706923 A GB 8706923A GB 8706923 A GB8706923 A GB 8706923A GB 2188754 B GB2188754 B GB 2188754B
Authority
GB
United Kingdom
Prior art keywords
kinematic parameters
robotic manipulators
identifying kinematic
identifying
manipulators
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
GB8706923A
Other versions
GB8706923D0 (en
GB2188754A (en
Inventor
Henry Wallentin Stone
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CBS Corp
Original Assignee
Westinghouse Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Westinghouse Electric Corp filed Critical Westinghouse Electric Corp
Publication of GB8706923D0 publication Critical patent/GB8706923D0/en
Publication of GB2188754A publication Critical patent/GB2188754A/en
Application granted granted Critical
Publication of GB2188754B publication Critical patent/GB2188754B/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
GB8706923A 1986-04-04 1987-03-24 A method for identifying kinematic parameters of robotic manipulators Expired - Lifetime GB2188754B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/848,437 US4698572A (en) 1986-04-04 1986-04-04 Kinematic parameter identification for robotic manipulators

Publications (3)

Publication Number Publication Date
GB8706923D0 GB8706923D0 (en) 1987-04-29
GB2188754A GB2188754A (en) 1987-10-07
GB2188754B true GB2188754B (en) 1990-07-18

Family

ID=25303266

Family Applications (1)

Application Number Title Priority Date Filing Date
GB8706923A Expired - Lifetime GB2188754B (en) 1986-04-04 1987-03-24 A method for identifying kinematic parameters of robotic manipulators

Country Status (4)

Country Link
US (1) US4698572A (en)
JP (1) JPS62249207A (en)
CA (1) CA1275670C (en)
GB (1) GB2188754B (en)

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GB9004006D0 (en) * 1990-02-22 1990-04-18 Danbury Richard N Point-to-point positioning of loads
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US5428713A (en) * 1991-11-25 1995-06-27 Kabushiki Kaisha Toshiba Compound module type manipulator apparatus
JPH05277976A (en) * 1992-03-31 1993-10-26 Nippon Telegr & Teleph Corp <Ntt> Dynamic model parameter indentifying device
US5255571A (en) * 1992-06-25 1993-10-26 United Parcel Service Of America, Inc. Three degree of freedom actuator system
GB9424707D0 (en) * 1994-12-07 1995-02-01 Robot Simulations Ltd Control of industrial robots
JP4609684B2 (en) * 1999-04-05 2011-01-12 ソニー株式会社 Robot, servo circuit, actuator, robot control method, and actuator control method
US6460414B1 (en) * 2000-11-17 2002-10-08 Sonoscan, Inc. Automated acoustic micro imaging system and method
DE10143753B4 (en) * 2001-09-06 2005-04-14 Deutsches Zentrum für Luft- und Raumfahrt e.V. Calibration method for a robot arm
DE102004026707A1 (en) * 2004-05-28 2005-12-22 Technische Universität Kaiserslautern Hybrid robot controlling method, involves determining obligating conditions for motion possibilities of link coordinating system for each link, and assigning value relative to another coordinating system to former system
DE102007010067B3 (en) * 2007-02-28 2008-07-03 Technische Universität Braunschweig Carolo-Wilhelmina Accuracy testing or parallel kinematics machine e.g. robot, calibrating method, involves determining error parameters so that difference between singularity positions is minimized or outputting signal when difference exceeds preset value
US7660671B2 (en) * 2007-12-06 2010-02-09 Schlumberger Technology Corporation Method and apparatus for electromagnetic logging of a formation
DE102010010920A1 (en) * 2010-03-10 2011-09-15 Eisenmann Ag Method for calibrating a robot
DE102010010919A1 (en) * 2010-03-10 2011-09-15 Eisenmann Ag Method for transferring the work program of a first robot with individual errors to a second robot with individual errors
RU2466858C1 (en) * 2011-06-01 2012-11-20 Российская Федерация в лице Министерства промышленности и торговли Российской Федерации Method of control of accuracy of profiled movements of industry robots
CN102637158B (en) * 2012-04-28 2015-05-06 谷菲 Inverse kinematics solution method for six-degree-of-freedom serial robot
CN103085069B (en) * 2012-12-17 2015-07-15 北京邮电大学 Novel robot kinematics modeling method
CN103170979B (en) * 2013-02-06 2016-07-06 华南理工大学 Online robot parameter identification method based on inertia measurement instrument
DE102013102651A1 (en) * 2013-03-14 2014-09-18 Robotics Technology Leaders Gmbh System and method for absolute calibration of a manipulator
US9452533B2 (en) 2013-05-15 2016-09-27 Hexagon Technology Center Gmbh Robot modeling and positioning
CN103543692B (en) * 2013-11-06 2016-01-20 宁波安信数控技术有限公司 A kind of general numerically-controlled machine Kinematic Model method
WO2017128284A1 (en) 2016-01-29 2017-08-03 Abb Schweiz Ag Method for calibrating touchscreen panel with industrial robot and system, industrial robot and touchscreen using the same
CN105856240B (en) * 2016-06-14 2018-06-12 北京邮电大学 A kind of simple joint failure manipulator model reconstructing method based on perspective geometry method
ITUA20164364A1 (en) * 2016-06-14 2017-12-14 Iuvo S R L Kinematic chain for the transmission of mechanical pairs
RU2641604C1 (en) * 2016-12-28 2018-01-18 Федеральное государственное автономное образовательное учреждение высшего образования "Дальневосточный федеральный университет" (ДВФУ) Method of measuring absolute position of end link of ndustrial robot multilink mechanism
CN111488654A (en) * 2019-01-10 2020-08-04 中国矿业大学(北京) Robot kinematics solving method based on global coordinate system recursive regression mode
TWI710748B (en) * 2019-04-15 2020-11-21 財團法人工業技術研究院 Contour accuracy measuring system and method thereof
CN111844135B (en) * 2020-07-29 2021-08-13 伯朗特机器人股份有限公司 Robot joint parameter measuring method and device, storage and robot
CN113400318B (en) * 2021-07-16 2023-03-24 四川成焊宝玛焊接装备工程有限公司 Robot user coordinate system compensation method, automobile online edge rolling system and method
CN114147714B (en) * 2021-12-02 2023-06-09 浙江机电职业技术学院 Method and system for calculating control parameters of mechanical arm of autonomous robot
CN114521960B (en) * 2022-02-25 2023-04-07 苏州康多机器人有限公司 Full-automatic real-time calibration method, device and system of abdominal cavity operation robot
CN114474003A (en) * 2022-03-18 2022-05-13 河北工业大学 Vehicle-mounted construction robot error compensation method based on parameter identification
CN114701372A (en) * 2022-03-24 2022-07-05 北京启智新源科技有限公司 Automatic wireless charging system and method based on mechanical arm
CN116175567B (en) * 2023-02-14 2023-11-24 合肥合滨智能机器人有限公司 Identification method for mechanical arm joint friction model parameters and kinetic parameters
CN116577997B (en) * 2023-07-06 2023-10-03 西北工业大学 Omnidirectional trolley parameter identification method based on concurrent learning

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EP0042960A1 (en) * 1980-06-30 1982-01-06 International Business Machines Corporation Method and apparatus for calibrating a robot

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US4068156A (en) * 1977-03-01 1978-01-10 Martin Marietta Corporation Rate control system for manipulator arms
US4467436A (en) * 1981-10-26 1984-08-21 United States Robots, Inc. Robot arm controller with common bus memory
JPS59107884A (en) * 1982-12-10 1984-06-22 株式会社日立製作所 Control system of robot
JPS59106007A (en) * 1982-12-10 1984-06-19 Toyota Central Res & Dev Lab Inc Locus control system of multijoint robot
US4555217A (en) * 1983-01-06 1985-11-26 Intelledex Incorporated Robot arm with split wrist motion
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US4585387A (en) * 1983-10-11 1986-04-29 William Jayne Robot arm
JPS6085885A (en) * 1983-10-17 1985-05-15 株式会社日立製作所 Controller for multi-joint mechanism

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Publication number Priority date Publication date Assignee Title
EP0042960A1 (en) * 1980-06-30 1982-01-06 International Business Machines Corporation Method and apparatus for calibrating a robot

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Also Published As

Publication number Publication date
GB8706923D0 (en) 1987-04-29
JPS62249207A (en) 1987-10-30
CA1275670C (en) 1990-10-30
US4698572A (en) 1987-10-06
GB2188754A (en) 1987-10-07

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee

Effective date: 19930324